version: 66.02
glider: 16
mission: 6
dive: 367
start: 1 22 108 8 44 37
data:
$ID,16
$MISSION,6
$DIVE,367
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2085884.4
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,083737,6232.806,-354.927,37,0.9,44,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.3
$GPS2,084345,6232.813,-354.976,14,1.1,14,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.024,-0.220
$KALMAN_X,10798.1,1179.5,17885.7,243456.4,19253.6
$KALMAN_Y,-35247.3,487.6,-6629.7,142533.5,-8170.3
$MHEAD_RNG_PITCHd_Wd,153.7,39398,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,87,0.00,0.00,-61.00,0.000,2,0.000,0.000,69,2403,3072
$GC,91,-0.85,-146.6,4.2,-5.8,3,117,12.35,2.65,-8.27,0.000,4,0.174,0.093,2222,3765,3415
$GC,185,-0.85,-146.6,15.9,-8.8,7,192,0.00,2.55,0.00,0.000,6,0.000,0.058,2222,2395,3416
$GC,501,-0.85,-146.6,39.1,-6.7,23,505,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,978,3416
$GC,544,-0.85,-146.6,42.4,-7.3,25,549,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2403,3417
$GC,866,-0.85,-146.6,64.6,-7.0,41,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3417
$GC,1175,-0.85,-146.6,86.7,-7.0,56,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3417
$GC,1484,-0.85,-146.6,110.8,-7.1,71,1489,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,983,3417
$GC,1534,-0.85,-146.6,114.7,-7.7,73,1539,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2404,3417
$GC,1850,-0.85,-146.6,137.6,-7.5,88,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3417
$GC,2159,-0.85,-146.6,161.9,-7.8,103,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3417
$GC,2469,-0.85,-146.6,184.4,-6.9,118,2473,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,980,3418
$GC,2518,-0.85,-146.6,188.1,-7.5,120,2522,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2400,3418
$GC,2833,-0.85,-146.6,209.4,-6.6,135,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,3143,-0.85,-146.6,230.5,-6.9,150,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,3452,-0.85,-146.6,251.8,-6.4,165,3456,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,980,3419
$GC,3546,-0.85,-146.6,258.0,-6.3,169,3551,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2405,3419
$GC,3863,-0.85,-146.6,277.4,-6.4,184,3867,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,982,3420
$GC,3912,-0.85,-146.6,280.8,-6.6,186,3916,0.00,2.65,0.00,0.000,6,0.000,0.066,2223,2406,3420
$GC,4228,-0.85,-146.6,302.3,-7.0,201,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3420
$GC,4538,-0.85,-146.6,324.7,-7.0,216,4543,0.00,2.70,0.00,0.000,4,0.000,0.078,2222,988,3420
$GC,4610,-0.85,-146.6,330.1,-7.2,219,4614,0.00,2.62,0.00,0.000,6,0.000,0.068,2222,2401,3420
$GC,4930,-0.85,-146.6,353.2,-7.4,235,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3420
$GC,5241,-0.85,-146.6,375.3,-6.8,250,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3420
$GC,5549,-0.85,-146.6,395.6,-6.3,265,5553,0.00,2.70,0.00,0.000,4,0.000,0.081,2223,984,3420
$GC,5603,-0.85,-146.6,399.2,-6.8,267,5610,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2407,3420
$GC,5920,-0.85,-146.6,419.0,-6.5,283,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3420
$GC,6228,-0.85,-146.6,438.4,-6.2,298,6233,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,982,3419
$GC,6291,-0.85,-146.6,442.6,-6.8,301,6296,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2406,3419
$GC,6618,-0.85,-146.6,463.9,-6.6,317,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3419
$GC,6926,-0.85,-146.6,483.9,-6.6,332,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3417
$GC,7236,-0.85,-146.6,502.9,-5.9,347,7240,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,986,3416
$GC,7286,-0.85,-146.6,506.2,-6.5,349,7290,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2406,3416
$GC,7601,-0.85,-146.6,526.6,-6.6,364,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3415
$GC,7910,-0.85,-146.6,546.2,-6.3,379,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3414
$GC,8221,-0.85,-146.6,565.0,-6.0,394,8225,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,986,3413
$GC,8286,-0.85,-146.6,569.4,-7.1,397,8291,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2402,3413
$GC,8608,-0.85,-146.6,589.2,-6.3,413,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3412
$GC,8916,-0.85,-146.6,607.8,-6.2,428,8921,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,985,3411
$GC,8966,-0.85,-146.6,611.1,-6.6,430,8971,0.00,2.67,0.00,0.000,6,0.000,0.075,2222,2396,3411
$GC,9283,-0.85,-146.6,629.8,-5.9,445,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3410
$GC,9591,-0.85,-146.6,649.8,-6.9,460,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3408
$GC,9900,-0.85,-146.6,671.1,-6.7,475,9905,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3408
$GC,9940,-0.85,-146.6,673.8,-7.6,477,9945,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2408,3408
$STATE,10140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10140,begin apogee
$GC,10146,-0.31,0.0,688.0,6.9,487,10272,0.60,0.00,122.55,1.182,6,0.123,0.000,2338,2201,2817
$STATE,10273,end apogee,CONTROL_FINISHED_OK
$STATE,10273,begin climb
$GC,10275,0.85,146.6,692.0,0.0,493,10407,1.27,2.88,121.45,1.135,4,0.108,0.083,2587,789,2219
$GC,10471,0.86,161.9,685.3,5.6,502,10490,0.00,2.67,14.05,1.079,6,0.000,0.067,2587,2195,2157
$GC,10818,0.86,163.2,663.9,6.0,519,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2155
$GC,11127,0.86,163.2,645.1,6.1,534,11131,0.00,2.83,0.00,0.000,4,0.000,0.097,2587,3613,2154
$GC,11159,0.86,163.2,642.9,6.8,535,11166,0.00,2.72,0.00,0.000,6,0.000,0.076,2587,2198,2154
$GC,11475,0.86,163.2,623.3,6.1,551,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2198,2152
$GC,11785,0.86,163.2,604.5,6.2,566,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2153
$GC,12094,0.87,172.4,586.1,5.7,581,12105,0.00,0.00,9.80,1.026,6,0.000,0.000,2587,2198,2114
$GC,12404,0.88,179.0,567.7,5.8,596,12413,0.00,0.00,7.30,0.954,6,0.000,0.000,2587,2198,2087
$GC,12712,0.89,189.9,550.1,5.7,611,12725,0.00,0.00,10.82,1.025,6,0.000,0.000,2587,2198,2042
$GC,13021,0.89,189.9,531.5,6.3,626,13026,0.00,2.85,0.00,0.000,4,0.000,0.096,2587,3621,2042
$GC,13055,0.89,189.9,529.1,6.9,627,13061,0.00,2.75,0.00,0.000,6,0.000,0.075,2586,2196,2041
$GC,13370,0.89,189.9,508.5,6.5,643,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2041
$GC,13679,0.89,189.9,489.5,6.0,658,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2040
$GC,13990,0.90,195.2,471.2,5.9,673,13997,0.00,0.00,5.75,0.849,6,0.000,0.000,2587,2196,2021
$GC,14298,0.92,217.6,454.3,5.4,688,14324,0.12,2.90,19.58,1.045,4,0.083,0.095,2614,3617,1930
$GC,14346,0.92,217.6,451.1,7.3,690,14351,0.00,2.78,0.00,0.000,6,0.000,0.077,2614,2201,1930
$GC,14662,0.92,217.6,430.7,6.4,705,14667,0.00,2.78,0.00,0.000,4,0.000,0.090,2614,785,1928
$GC,14702,0.92,217.6,428.0,7.0,707,14706,0.00,2.67,0.00,0.000,6,0.000,0.065,2614,2201,1928
$GC,15028,0.92,217.6,404.2,7.9,723,15032,0.00,2.78,0.00,0.000,4,0.000,0.084,2614,781,1928
$GC,15067,0.92,217.6,401.2,8.0,725,15072,0.00,2.67,0.00,0.000,6,0.000,0.064,2614,2205,1927
$GC,15394,0.92,217.6,375.4,7.7,741,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2205,1927
$GC,15704,0.92,217.6,353.2,7.1,756,15708,0.00,2.75,0.00,0.000,4,0.000,0.083,2615,785,1927
$GC,15743,0.92,217.6,350.1,8.2,758,15748,0.00,2.67,0.00,0.000,6,0.000,0.064,2614,2207,1926
$GC,16070,0.92,217.6,322.7,8.8,774,16071,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1927
$GC,16379,0.92,217.6,298.3,7.1,789,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2207,1927
$GC,16689,0.92,217.6,275.6,8.2,804,16693,0.00,2.75,0.00,0.000,4,0.000,0.081,2614,783,1927
$GC,16766,0.92,217.6,268.3,9.2,807,16772,0.00,2.65,0.00,0.000,6,0.000,0.062,2614,2202,1927
$GC,17082,0.92,217.6,240.3,8.7,823,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2202,1927
$GC,17392,0.92,217.6,215.0,7.7,838,17396,0.00,2.75,0.00,0.000,4,0.000,0.091,2614,3620,1926
$GC,17435,0.92,217.6,211.1,8.2,840,17440,0.00,2.72,0.00,0.000,6,0.000,0.073,2614,2194,1927
$GC,17757,0.92,217.6,187.9,7.0,856,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1927
$GC,18067,0.92,217.6,165.8,7.5,871,18068,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1928
$GC,18375,0.94,233.7,145.2,5.6,886,18395,0.00,0.00,14.85,0.771,6,0.000,0.000,2614,2194,1864
$GC,18706,0.94,233.7,122.4,6.7,902,18707,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2194,1864
$GC,19015,0.94,233.7,101.7,7.9,917,19016,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1864
$GC,19323,0.94,233.7,79.1,6.2,932,19324,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1864
$GC,19632,0.94,233.7,55.4,10.4,947,19637,0.00,2.67,0.00,0.000,4,0.000,0.072,2614,777,1866
$GC,19683,0.94,233.7,50.7,10.3,949,19687,0.00,2.62,0.00,0.000,6,0.000,0.056,2615,2203,1866
$GC,19999,0.94,233.7,21.7,7.3,964,20000,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1866
$STATE,20285,end climb,SURFACE_DEPTH_REACHED
$STATE,20285,begin surface coast
$FINISH,0.9,1.027561
$STATE,20307,end surface coast,CONTROL_FINISHED_OK
$STATE,20307,begin surface
$SM_CCo,20329,43.72,0.629,3,0,1593,300.00
$SM_GC,1.75,0.00,0.00,43.72,0.000,0.000,0.629,74,2402,1593,-10.74,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,2085
$TCM_TEMP,16.30
$XPDR_PINGS,107
$ALTIM_BOTTOM_PING,651.1,46.2
$24V_AH,23.3,57.409
$10V_AH,10.1,30.376
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.900,125.475,326.150,43.725,0.000,32.587,35.226,169.864,32.250,0.000,0.000,14.521,1726.259,16037.626,522.675,1939.549,531.131,33.383,1466.257,0.000,1903.258,0.000,37.971
$DEVICE_MAMPS,174.109,97.409,1181.947,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,726.739,672.551,601.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50593,979
$CFSIZE,260165632,238669824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,3,1
$GPS,220108,142557,6231.432,-350.213,34,1.8,54,-6.8